Drake
PostureConstraint Class Reference

Constrain the joint limits. More...

#include <drake/attic/multibody/rigid_body_constraint.h>

Public Member Functions

 PostureConstraint (RigidBodyTree< double > *model, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 Constrain the joint limits. More...
 
virtual ~PostureConstraint (void)
 
bool isTimeValid (const double *t) const
 
void setJointLimits (int num_idx, const int *joint_idx, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 Set the limit of some joints. More...
 
void setJointLimits (const Eigen::VectorXi &joint_idx, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub)
 
void bounds (const double *t, Eigen::VectorXd &joint_min, Eigen::VectorXd &joint_max) const
 
- Public Member Functions inherited from RigidBodyConstraint
 RigidBodyConstraint (int category, RigidBodyTree< double > *robot, const Eigen::Vector2d &tspan=DrakeRigidBodyConstraint::default_tspan)
 
int getType () const
 
int getCategory () const
 
RigidBodyTree< double > * getRobotPointer () const
 
virtual ~RigidBodyConstraint (void)=0
 

Additional Inherited Members

- Static Public Attributes inherited from RigidBodyConstraint
static const int SingleTimeKinematicConstraintCategory = -1
 
static const int MultipleTimeKinematicConstraintCategory = -2
 
static const int QuasiStaticConstraintCategory = -3
 
static const int PostureConstraintCategory = -4
 
static const int MultipleTimeLinearPostureConstraintCategory = -5
 
static const int SingleTimeLinearPostureConstraintCategory = -6
 
static const int QuasiStaticConstraintType = 1
 
static const int PostureConstraintType = 2
 
static const int SingleTimeLinearPostureConstraintType = 3
 
static const int AllBodiesClosestDistanceConstraintType = 4
 
static const int WorldEulerConstraintType = 5
 
static const int WorldGazeDirConstraintType = 6
 
static const int WorldGazeOrientConstraintType = 7
 
static const int WorldGazeTargetConstraintType = 8
 
static const int RelativeGazeTargetConstraintType = 9
 
static const int WorldCoMConstraintType = 10
 
static const int WorldPositionConstraintType = 11
 
static const int WorldPositionInFrameConstraintType = 12
 
static const int WorldQuatConstraintType = 13
 
static const int Point2PointDistanceConstraintType = 14
 
static const int Point2LineSegDistConstraintType = 15
 
static const int WorldFixedPositionConstraintType = 16
 
static const int WorldFixedOrientConstraintType = 17
 
static const int WorldFixedBodyPoseConstraintType = 18
 
static const int PostureChangeConstraintType = 19
 
static const int RelativePositionConstraintType = 20
 
static const int RelativeQuatConstraintType = 24
 
static const int RelativeGazeDirConstraintType = 25
 
static const int MinDistanceConstraintType = 26
 
static const int GravityCompensationTorqueConstraintType = 27
 
- Protected Member Functions inherited from RigidBodyConstraint
std::string getTimeString (const double *t) const
 
void set_type (int type)
 
void set_robot (RigidBodyTree< double > *robot)
 
const doubletspan () const
 

Detailed Description

Constrain the joint limits.

Constructor & Destructor Documentation

◆ PostureConstraint()

Constrain the joint limits.

Parameters
[in]model
[in]tspanTime span of the constraint being valid

◆ ~PostureConstraint()

virtual ~PostureConstraint ( void  )
inlinevirtual

Member Function Documentation

◆ bounds()

void bounds ( const double t,
Eigen::VectorXd &  joint_min,
Eigen::VectorXd &  joint_max 
) const

◆ isTimeValid()

bool isTimeValid ( const double t) const

◆ setJointLimits() [1/2]

void setJointLimits ( int  num_idx,
const int joint_idx,
const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

Set the limit of some joints.

Parameters
[in]num_idxNumber of joints whose limits are going to be set.
[in]joint_idxjoint_idx[i] is the index of the i'th joint whose limits are going to be set.
[in]lblb[i] is the lower bound of the joint joint_idx[i].
[in]ubub[i] is the upper bound of the joint joint_idx[i].

◆ setJointLimits() [2/2]

void setJointLimits ( const Eigen::VectorXi &  joint_idx,
const Eigen::VectorXd &  lb,
const Eigen::VectorXd &  ub 
)

The documentation for this class was generated from the following files: